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MC_PhasingAbsolute, MCP_PhasingAbsolute – Phase shift in synchronized motion (absolute coordinates)

Block SymbolsLicensing group: MOTION CONTROL
Qt SVG Document Exported by REXYGEN Studio uMaster uSlave Execute PhaseShift Velocity Acceleration Deceleration Jerk BufferMode yMaster ySlave Done CommandAborted Busy Active Error ErrorID MC_PhasingAbsolute Qt SVG Document Exported by REXYGEN Studio uMaster uSlave Execute yMaster ySlave Done CommandAborted Busy Active Error ErrorID MCP_PhasingAbsolute

Function Description

The MC_PhasingAbsolute and MCP_PhasingAbsolute blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_PhasingAbsolute block introduces an additional phase shift in master-slave relation defined by an electronic cam (MC_CamIn) or electronic gear (MC_GearIn). The functionality of this command is very similar to MC_MoveSuperimposed (additive motion from 0 to PhaseShift position with respect to maximum velocity acceleration and jerk). The only difference is that the additive position/velocity/acceleration is added to master axis reference position in the functional dependence defined by a cam or gear ratio for the computation of slave motion instead of its direct summation with master axis movement. The absolute value of final phase shift is specified by PhaseShift parameter.

Note: The motion command is analogous to rotation of a mechanical cam by angle PhaseShift

Inputs

uMaster

Master axis reference

Reference

uSlave

Slave axis reference

Reference

Execute

The block is activated on rising edge

Bool

PhaseShift

Requested phase shift (distance on master axis) for cam

Double (F64)

Velocity

Maximal allowed velocity [unit/s]

Double (F64)

Acceleration

Maximal allowed acceleration [unit/s2]

Double (F64)

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting

2 ....

Buffered

Outputs

yMaster

Master axis reference

Reference

ySlave

Slave axis reference

Reference

Done

Algorithm finished

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

Example
image/svg+xmlvelocity3 50 velocity2 30 ratio_numerator1 2 ratio_denominator1 1 position2 100 phase_shift3 25 mode3 2 mode2 2 mode1 2 execute3 [execute3] execute2 [execute2] execute1 [execute1] direction2 1 deceleration3 60 deceleration2 20 deceleration1 10 axis_slave1 [axis_slave] axis_slave [axis_slave] axis_master1 [axis_master] axis_master [axis_master] acceleration3 60 acceleration2 50 acceleration1 25 MC_PhasingAbsolute − block 3 uMasteruSlaveExecutePhaseShiftVelocityAccelerationDecelerationJerkBufferModeyMasterySlaveDoneCommandAbortedBusyActiveErrorErrorID MC_MoveAbsolute − block 2 uAxisExecutePositionVelocityAccelerationDecelerationJerkBufferModeDirectionyAxisDoneCommandAbortedBusyActiveErrorErrorID MC_GearIn − block 1 uMasteruSlaveExecuteRatioNumeratorRatioDenominatorAccelerationDecelerationJerkBufferModeyMasterySlaveInGearCommandAbortedBusyActiveErrorErrorID

image/svg+xml0 1 2 3 4 5 6 7 8 0 0.5 1 Execute bool Block 1 execute (GearIn) Block 2 execute (MoveAbsolute) Block 3 execute (PhasingAbsolute) 0 1 2 3 4 5 6 7 8 0 0.5 1 Active bool Block 1 active (GearIn) Block 2 active (MoveAbsolute) Block 3 active (PhasingAbsolute) 0 1 2 3 4 5 6 7 8 −150 −100 −50 0 50 100 150 Acceleration acceleration Acceleration axis 1 − master Acceleration axis 2 − slave 0 1 2 3 4 5 6 7 8 0 50 100 150 200 Velocity velocity Velocity axis 1 − master Velocity axis 2 − slave 0 1 2 3 4 5 6 7 8 0 50 100 150 200 250 300 Position position Position axis slave without phasingPosition axis slave with phasing Position axis 1 − master Position axis 2 − slave

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